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Finalize refactoring

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This commit is contained in:
Sébastien Crozet
2022-04-20 12:29:57 +02:00
committed by Sébastien Crozet
parent 2b1374c596
commit f108520b5a
32 changed files with 707 additions and 1030 deletions
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57
src/pipeline/user_changes.rs
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@@ -1,6 +1,6 @@
use crate::dynamics::{
IslandManager, RigidBodyActivation, RigidBodyChanges, RigidBodyHandle, RigidBodyIds,
RigidBodyPosition, RigidBodySet, RigidBodyType,
RigidBodySet, RigidBodyType,
};
use crate::geometry::{ColliderChanges, ColliderHandle, ColliderPosition, ColliderSet};
use parry::utils::hashmap::HashMap;
@@ -17,15 +17,13 @@ pub(crate) fn handle_user_changes_to_colliders(
for handle in modified_colliders {
// NOTE: we use `get` because the collider may no longer
// exist if it has been removed.
if let Some(co) = colliders.get(*handle) {
if let Some(co) = colliders.get_mut_internal(*handle) {
if co.changes.contains(ColliderChanges::PARENT) {
if let Some(co_parent) = co.parent {
let parent_pos: &RigidBodyPosition = bodies.index(co_parent.handle.0);
let parent_rb = &bodies[co_parent.handle];
let new_pos = parent_pos.position * co_parent.pos_wrt_parent;
let new_changes = co.changes | ColliderChanges::POSITION;
colliders.set_internal(handle.0, ColliderPosition(new_pos));
colliders.set_internal(handle.0, new_changes);
co.pos = ColliderPosition(parent_rb.pos.position * co_parent.pos_wrt_parent);
co.changes |= ColliderChanges::POSITION;
}
}
@@ -38,18 +36,12 @@ pub(crate) fn handle_user_changes_to_colliders(
}
for (to_update, _) in mprops_to_update {
let rb = &bodies[to_update];
let position = rb.position();
// FIXME: remove the clone once we remove the ComponentSets.
let attached_colliders = rb.colliders().clone();
bodies.map_mut_internal(to_update.0, |rb_mprops| {
rb_mprops.recompute_mass_properties_from_colliders(
colliders,
&attached_colliders,
&position,
)
});
let rb = bodies.index_mut_internal(to_update);
rb.mprops.recompute_mass_properties_from_colliders(
colliders,
&rb.colliders,
&rb.pos.position,
);
}
}
@@ -73,7 +65,7 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
continue;
}
let rb = &bodies[handle];
let rb = bodies.index_mut_internal(*handle);
let mut changes = rb.changes;
let mut ids: RigidBodyIds = rb.ids;
let mut activation: RigidBodyActivation = rb.activation;
@@ -83,7 +75,7 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
// it is on the correct active set.
if let Some(islands) = islands.as_deref_mut() {
if changes.contains(RigidBodyChanges::TYPE) {
match rb.status {
match rb.body_type {
RigidBodyType::Dynamic => {
// Remove from the active kinematic set if it was there.
if islands.active_kinematic_set.get(ids.active_set_id) == Some(handle) {
@@ -162,20 +154,19 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
|| changes.contains(RigidBodyChanges::TYPE)
{
for handle in rb.colliders.0.iter() {
colliders.map_mut_internal(handle.0, |co_changes: &mut ColliderChanges| {
if !co_changes.contains(ColliderChanges::MODIFIED) {
modified_colliders.push(*handle);
}
let co = colliders.index_mut_internal(*handle);
if !co.changes.contains(ColliderChanges::MODIFIED) {
modified_colliders.push(*handle);
}
*co_changes |=
ColliderChanges::MODIFIED | ColliderChanges::PARENT_EFFECTIVE_DOMINANCE;
});
co.changes |=
ColliderChanges::MODIFIED | ColliderChanges::PARENT_EFFECTIVE_DOMINANCE;
}
}
bodies.set_internal(handle.0, RigidBodyChanges::empty());
bodies.set_internal(handle.0, ids);
bodies.set_internal(handle.0, activation);
rb.changes = RigidBodyChanges::empty();
rb.ids = ids;
rb.activation = activation;
}
// Adjust some ids, if needed.
@@ -187,9 +178,7 @@ pub(crate) fn handle_user_changes_to_rigid_bodies(
};
if id < active_set.len() {
bodies.map_mut_internal(active_set[id].0, |ids2: &mut RigidBodyIds| {
ids2.active_set_id = id;
});
bodies.index_mut_internal(active_set[id]).ids.active_set_id = id;
}
}
}